| Autor: |
Xuqi Wu-Fan, Qiang Xu, Sheng Liu, Mingming Gu |
| Jazyk: |
čínština |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
Jixie chuandong, Vol 44, Pp 59-64 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
1004-2539 |
| DOI: |
10.16578/j.issn.1004.2539.2020.05.009 |
| Popis: |
Abstract A new 3-DOF parallel mechanism 3-UPS/RPP is designed， which can realize two shifts and one rotation. Based on the traditional 3-UPS structure， a constrained branched chain of RPP structure is added to the structure. The spiral theory is applied to analyze the constrained chain. It is found that the proposed 3-UPS/RPP parallel mechanism can realize one-dimensional rotation and two-dimensional movement in the plane. On the basis of degree of freedom analysis， the kinematics model of 3-UPS/RPP parallel mechanism is further constructed. Through the decomposition analysis of driving and constrained branching chains， the analytical expression of inverse solution of position of 3-UPS/RPP parallel mechanism is given. Based on the results of inverse solution of position， a workspace search process is constructed， and the workspace of the mechanism is solved in Matlab software. Finally， the kinematics control simulation of the 3-UPS/RPP parallel mechanism is carried out. The simulation results show that the system has high dynamic trajectory tracking control accuracy and is suitable for practical application. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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